WO2020088430A1 - Training apparatus and method for fracture reduction - Google Patents

Training apparatus and method for fracture reduction Download PDF

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Publication number
WO2020088430A1
WO2020088430A1 PCT/CN2019/113869 CN2019113869W WO2020088430A1 WO 2020088430 A1 WO2020088430 A1 WO 2020088430A1 CN 2019113869 W CN2019113869 W CN 2019113869W WO 2020088430 A1 WO2020088430 A1 WO 2020088430A1
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WO
WIPO (PCT)
Prior art keywords
fracture
robot arm
fracture reduction
limb model
model
Prior art date
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PCT/CN2019/113869
Other languages
French (fr)
Chinese (zh)
Inventor
吴七柱
嘎拉台
陈英松
阿古拉
木日根吉雅
李常胜
Original Assignee
内蒙古医科大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from CN201821795706.1U external-priority patent/CN209343565U/en
Priority claimed from CN201811294391.7A external-priority patent/CN109545020B/en
Application filed by 内蒙古医科大学 filed Critical 内蒙古医科大学
Priority to US17/290,238 priority Critical patent/US20220020294A1/en
Publication of WO2020088430A1 publication Critical patent/WO2020088430A1/en

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/30—Anatomical models
    • G09B23/32—Anatomical models with moving parts
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes

Definitions

  • the invention relates to a computer-assisted fracture reduction technique. More specifically, it relates to a training device and training method for fracture reduction.
  • Manipulative reduction refers to the reduction of joints with fracture and dislocation with bare hands. Therefore, for manipulative reduction techniques, it is very necessary to rely on the doctor ’s maneuver.
  • the effectiveness of fracture treatment depends largely on the success of manipulative reduction. A doctor with good maneuver can help the patient ’s affected area heal quickly, recover early, complications and sequelae less.
  • the present invention proposes a training device and training method for fracture reduction to overcome the defects in the prior art.
  • a training device for fracture reduction including: a fracture reduction platform, including: a base and a robot arm portion fixed on the base, the robot arm portion is configured to A limb model is mounted thereon; and a control unit, coupled to the fracture reduction platform, is configured to simulate and present the effect of the movement of the robot arm portion on the limb model according to the movement of the robot arm portion.
  • the robot arm part includes: a first robot arm for fixing a limb model, the first robot arm has three swing joints and three rotation joints, so as to move in any direction of three axes in space; And a second mechanical arm for fixing the limb model, the second mechanical arm has a swing joint and a rotary joint.
  • control unit includes: a sensing module coupled with the robot arm portion and configured to sense the motion of the robot arm portion.
  • control unit further includes: a display module coupled to the sensing module, configured to display the position based on the motion of the robot arm portion sensed by the sensing module Describe the movement of the fracture site of the limb model in space.
  • control device further includes: a recording learning module configured to work in a recording mode and a learning mode, wherein in the recording mode, the recording learning module may The movement of the arm part is stored as a template; in the learning mode, the record learning module can drive the movement of the robot arm part according to the stored template.
  • a recording learning module configured to work in a recording mode and a learning mode, wherein in the recording mode, the recording learning module may The movement of the arm part is stored as a template; in the learning mode, the record learning module can drive the movement of the robot arm part according to the stored template.
  • the training device further includes a motor coupled to the robot arm portion, and the recording learning module controls the motor to drive the robot arm portion to move according to the template.
  • the training device further includes a fracture model unit configured to store a fracture model corresponding to the limb model, and the control unit is based on the fracture model and the robotic arm Part of the movement, to simulate and present the effect of the movement of the robot arm on the limb model.
  • the training device further includes a limb model including a bone portion and a soft tissue portion, wherein the bone portion includes at least one fracture site.
  • a training method using the training device for fracture reduction and repair as described above comprising: a first user performing a fracture reduction operation on a fracture site of the limb model; and simulating and presenting in The effect of the first user on the fracture site when performing the fracture reduction operation on the fracture site of the limb model.
  • the presenting step includes: sensing the movement of the robot arm portion when the first user performs the fracture reduction operation on the fracture site of the limb model.
  • the training method further includes: storing, as a template, the motion of the robot arm part when the first user performs the fracture reduction operation.
  • the training method further includes: driving the robot arm to move according to the stored template.
  • the presenting step includes: based on the sensed movement of the robot arm part, displaying on the display module that the fractured end of the fracture site of the limb model is spatially Mobile.
  • the training method further includes: based on the displayed spatial movement of the fractured end of the fracture site of the limb model, correcting the fracture reduction operation.
  • the training device and training method for fracture reduction according to the present invention can feedback the fracture reduction operation performed by the operator in real time, thereby greatly improving the training effect of the operator; by recording and reproducing the reduction technique of the teacher, clinician or famous doctor, The learner can repeatedly feel the sequence direction and strength of the technique, thereby effectively improving the training effect.
  • FIG. 1 is an exemplary block diagram of a training device for fracture reduction according to an embodiment of the present invention
  • FIG. 2 is an exemplary structural diagram of the fracture reduction platform in FIG. 1;
  • FIG. 3 is an exemplary structural block diagram of the control unit in FIG. 1;
  • FIG. 4 is another exemplary structural block diagram of the control unit in FIG. 1;
  • FIG. 5 is another exemplary structural block diagram of the control unit in FIG. 1;
  • FIG. 6 shows another exemplary block diagram of a training device for fracture reduction according to an embodiment of the present invention
  • FIG. 7 shows an exemplary process of a training method for fracture reduction according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
  • the features defined with “first” and “second” may explicitly or implicitly include one or more of the features.
  • the meaning of “plurality” is two or more, unless otherwise specifically limited.
  • connection should be understood in a broad sense, for example, it can be fixed connection or detachable Connection, or integral connection: it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediary, it can be the connection between two components or the interaction of two components relationship.
  • the first feature “above” or “below” the second feature may include the first and second features in direct contact, or may include the first and second features Contact not directly but through another feature between them.
  • the first feature is “above”, “above” and “above” the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is less horizontal than the second feature.
  • FIG. 1 shows a training device 1 for fracture reduction according to an embodiment of the present invention.
  • the training device 1 for fracture reduction includes: a fracture reduction platform 20 including a base and a robot arm portion fixed on the base, the robot arm portion is configured To allow a limb model to be mounted thereon; and a control unit 30, coupled to the fracture reduction platform 20, configured to simulate and present the movement of the robot arm portion to the limb according to the movement of the robot arm portion The role of the model.
  • FIG. 2 shows an exemplary structure of the fracture reduction platform 20 according to an embodiment of the present invention.
  • the fracture reduction platform 20 may include a base 202 and a robot arm portion 201.
  • the robot arm part 201 may include: a first robot arm 2011 for fixing a limb model, the first robot arm may have three swing joints 2011A, 2011C, 2011E and three rotary joints 2011B, 2011D, 2011F, so as to provide three Movement of the axis in any direction; and a second robot arm 2012 for fixing the limb model, the second robot arm 2012 has a swing joint 2012A and a rotary joint 2012B so as to be able to be together with the first robot arm 2011
  • the number of swing joints and rotary joints of the first robot arm 2011 and the second robot arm 2012 may be increased or decreased according to specific requirements.
  • the second robot arm 2012 may also have three swing joints and three rotation joints.
  • Both the first robot arm 2011 and the second robot arm 2012 are used to fix a limb model (not shown).
  • One end of the first robot arm 2011 has an attachment nail 2011G
  • one end of the second robot arm 2012 has an attachment nail 2012C.
  • the connecting nails 2011G and 2012C can be inserted into corresponding eyelets on the limb model and fixed in a conventional manner. Therefore, when the user performs operations on the limb model, such as squeezing, kneading, pinching, pressing, twisting, etc., the user's actions will be converted into the actions of the first robot arm 2011 and the second robot arm 2012.
  • Those skilled in the art can conceive of other ways to fix the limb model on the first mechanical arm and the second mechanical arm, which are within the protection scope of the present invention.
  • a swing joint refers to a mechanical joint that swings along with a fixed axis
  • a rotary joint refers to a mechanical joint that performs rotary motion along a longitudinal axis.
  • the first robot arm 2011 may be configured to fix the distal end of the fracture of the limb model; the second robot arm 2012 may be configured to fix the proximal end of the fracture of the limb model.
  • the distal end of the limb refers to the lower end and the distal end
  • the proximal end of the limb refers to the upper end and the proximal end, which is relatively fixed relative to the distal end of the fracture; when performing fracture reduction, for example, The reduction operation is performed from the distal end of the fracture to the proximal end of the fracture.
  • the first robot arm 2011 and the second robot of the robot arm part 201 may rotate and swing in the three-axis direction of the space along with the movement of the limb model.
  • the base 202 includes components provided on the base 202 for controlling data transmission with the control unit 30, a switch component for power supply, and the like.
  • the components provided on the base 202 may include, for example, a data interface (for example, a USB data interface) 2022, a power interface 2023, a power switch 2024, and the like.
  • the data interface 2022 can transmit the movement trajectory data of the robot arm portion 201 to the control unit 30 for real-time and recording, for example, and the control unit can also transmit instructions to the robot arm portion 201 through the data interface 2022 to control the robot arm portion
  • the movement of 201; the power interface 2023 is used to connect with an external power supply to supply power to the robot arm portion 201; the power switch 2024 is used to turn on or off the external power supply to the fracture reduction platform 20.
  • the present invention is not limited to wired data transmission or interfaces, but can also perform data transmission between the control unit 30 and the base 202 through wireless communication networks, such as WIFI, 3G, 4G, Bluetooth, and so on.
  • the control unit 30 is coupled to the fracture reduction platform 20, which is configured to simulate and present the effect of the motion of the robot arm portion on the limb model according to the motion of the robot arm portion 201.
  • Presenting the motion of the robot arm part may include, for example, simulating and displaying on the display the effect of the motion of the robot arm part on the limb model during the fracture reduction operation, and by controlling the motion of the robot arm part, reproducing the The movement of the mechanical arm part to reproduce the effect on the limb model.
  • FIG. 3 is an exemplary structural block diagram of the control unit in FIG. 1.
  • the control unit 30 may include a sensing module 301 for sensing the movement of the robot arm portion 201, for example, the movement of the robot arm portion when the user performs a fracture reduction operation.
  • the sensing module 301 may include, for example, a sensor or a sensor for sensing the movements of the respective rotary joints and swing joints of the first and second robot arms 2011 and 2012 of the robot arm portion 201.
  • the data of the movement trajectories of the respective rotation joints and swing joints of the first robot arm 2011 and the second robot arm 2012 sensed by the sensor may be transmitted to the control unit 30 through, for example, a data interface 2022 provided on the base 202 of the fracture reduction platform 20
  • the processing includes but is not limited to: data storage, data playback, data feedback, and the like.
  • the sensors include but are not limited to angle sensors, displacement sensors, speed sensors, acceleration sensors, and the like.
  • FIG. 4 is another exemplary structural block diagram of the control unit in FIG. 1.
  • the control unit 30 may further include: a display module 302 coupled to the sensing module 301 for sensing based on the sensing module 301
  • the measured movement of the robot arm portion 201 shows the spatial movement of the fractured end of the fracture site of the limb model.
  • the trajectory of the movement of the robot arm portion 201 sensed by the sensing module 301 can be processed by the processor, and the user's manual state of the fracture reduction operation can be processed.
  • the detailed movement of the mobile phone is displayed on the display module 302 in real time, so that the accuracy of the fracture reduction operation by the user is timely fed back.
  • the display module 302 may be any display device commonly used in the art, such as but not limited to a personal computer display, a tablet computer display, and so on.
  • the training device 1 may further include a fracture model unit (not shown in the figure).
  • the fracture model unit is configured to store a fracture model corresponding to the limb model.
  • the fracture model may include, for example, but not limited to, the type of the limb model (eg, arms, leg bones, etc.), length, fracture position, fracture type (eg, fracture, crush), fracture angle, and other common parameters.
  • the fracture model can be set in advance and selected by the user during use; and / or an interface can be provided for the user to input and customize the fracture model to increase the convenience of the system.
  • the control unit simulates and presents the effect of the movement of the robot arm part on the limb model based on the fracture model and the movement of the robot arm part. For example, the control unit simulates and displays the current user operation (corresponding to the machine) according to the fracture model, or the parameters of the limb model fixed on the current robot arm part and the fracture-related parameters, and through the received motion parameters of the robot arm part The effect of arm movement) on the limb model.
  • the control unit squeezes the broken bone parts of the fracture model together by sensing the movement of the mechanical arm part; when the user twists the limb model, the control unit senses the mechanical arm part
  • the movement of the fracture model also relatively twists the broken bone part of the fracture model, and the user can know the effect of the current operation method through the display of the control unit, such as whether the broken bone part is squeezed in place and whether the broken bone part has been rotated and rotated Just wait.
  • the user who performs the fracture reduction operation can correct the fracture reduction operation based on the spatial movement of the fractured end displayed on the display module 302.
  • the user who performs the fracture reduction operation may be a clinician or an expert with fracture reduction experience, for example, or a student or trainee who learns fracture reduction operation.
  • the training device can timely understand the treatment status of the fracture reduction operation in order to adjust or modify the fracture reduction operation, thereby reducing the The difficulty of beginners in grasping the direction and strength of the technique can greatly improve the training effect of the operator.
  • FIG. 5 is another exemplary structural block diagram of the control unit in FIG. 1.
  • the control unit 30 may further include: a recording learning module 303 configured to work in a recording mode and a learning mode, respectively, wherein the recording mode Next, the record learning module 303 can store the motion of the robot arm portion 201 as a template; in the learning mode, the record learning module 303 can drive the motion of the robot arm portion 201 according to the stored template .
  • the recording learning module 303 may include a storage medium that can record and store, for example, the movement of the robot arm portion 201 when a master, clinician, or expert with a prosthetic orthopedic technique performs a fracture reduction operation in the recording mode.
  • the storage medium may use any storage medium known in the art, and will not be repeated here.
  • the recording learning module 303 can drive the movement of the robot arm part 201 according to the template stored in the storage medium to reproduce the reset operation of masters, clinicians, and experts with skilled orthopedic techniques, such as students, apprentices, intern beginnerers such as doctors who are learning orthopedic techniques can learn the fracture reduction operation by sensing the movement of the limb model fixed on the robot arm part 201.
  • the training device 1 may further include a motor (not shown in the figure), which is coupled to the robot arm portion 201 and is also coupled to the control unit 30, and is configured to be a recording learning module of the control unit 30 303 Control to drive the robot arm part 201 to move according to the template.
  • the motor may correspond to the degrees of freedom of the robot arm part.
  • eight motors may be provided, corresponding to the swing joint and the rotary joint of the first robot arm 2011 and the second robot arm 2012, respectively.
  • the record learning module 303 of the control unit 30 is configured to generate a control instruction based on its stored movement of the robot arm portion 201 as a template to control the motor to drive the robot arm portion to move according to the template. Therefore, the user can place his hand on the limb model and feel the movement recorded by the template, so as to learn how to perform the fracture reduction operation.
  • FIG. 6 shows an exemplary structural block diagram of a training device for fracture reduction according to another embodiment of the present invention.
  • the training device 2 in addition to including the fracture reduction platform 20 and the control unit 30 similar to FIG. 1, the training device 2 according to the embodiment of the present invention may further include: a limb model 10, which may include bones, for example Parts and soft tissue parts.
  • a model of a human-like limb can be manufactured by, for example, simulating a part of the upper limb or lower limb that conforms to a manual reset operation.
  • a rubber material similar to the hardness of human muscles can be wrapped on the bones, for example, a soft tissue part can be made of a rubber material that is similar to the skin to the touch, hardness is similar to the feel of the muscles, and the resistance is the same as the elasticity of the human muscles when pulled vertically.
  • the appearance shape and color of the soft tissue portion may be set according to the appearance of limbs of a yellow race, for example, or according to the appearance of limbs of other races.
  • a link nail can be used to fix the soft tissue part to the bone part, so that the limb model is completely close to the human limb in appearance, size, feel, and strength.
  • Users can train the limb model to perform various reset operations such as lifting, squeezing, pressing, and rotating on the sagittal axis, coronal axis, and vertical axis (ie, X, Y, and Z axes).
  • the present invention is not limited to this.
  • Those skilled in the art can understand that the limb model 10 for fracture reduction according to the present invention can also use other types of limb models known in the art according to actual needs, as long as it includes the fracture site and can be trained by a beginner for fracture reduction And study.
  • a training method for fracture reduction includes:
  • step S11 the first user performs a fracture reduction operation on the fracture site of the limb model
  • step S12 the effect on the fracture site when the first user performs the fracture reduction operation on the fracture site of the limb model is simulated and presented.
  • the presenting step includes: sensing the movement of the robot arm part when the first user performs a fracture reduction operation on the fracture site of the limb model.
  • the training method for fracture reduction further includes: storing, as a template, the motion of the mechanical arm portion when the first user performs the fracture reduction operation.
  • the training method for fracture reduction further includes: driving the robot arm to move according to the stored template.
  • the step of simulating and presenting includes displaying the movement of the fractured end of the fracture site of the limb model on the display module based on the sensed movement of the robot arm part .
  • the training method further includes correcting the fracture reduction operation based on the spatial movement of the fractured end of the fracture site of the limb model displayed.
  • the training device and training method for fracture reduction according to the present invention have at least one of the following beneficial technical effects: able to overcome the drawback that students or interns cannot perform repeated maneuver exercises on patients (human bodies); and can feedback operations in real time
  • the fracture reduction operation performed by the operator allows the operator to correct or adjust its fracture reduction operation in real time according to the feedback, such as the direction and strength of the fracture reduction technique, which greatly improves the training effect of the operator; by recording and reproducing teachers, clinical With the reset technique of doctors or famous doctors, learners can repeatedly feel the sequence direction and strength of the technique, thereby effectively improving the training effect.

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Abstract

A training apparatus (1) for fracture reduction, comprising: a fracture reduction platform (20) having a base (202) and a mechanical arm portion (201) fixed on the base (202), the mechanical arm portion (201) being configured in such a manner that a limb model can be mounted thereon; and a control unit (30) coupled with the fracture reduction platform (20) and configured to simulate and present, according to the motion of the mechanical arm portion (201), the effect of the motion of the mechanical arm portion (201) on the limb model. Also provided is a training method for fracture reduction.

Description

用于骨折复位的训练装置和训练方法Training device and training method for fracture reduction 技术领域Technical field
本发明涉及计算机辅助的骨折复位技术。更具体地，涉及一种用于骨折复位的训练装置和训练方法。The invention relates to a computer-assisted fracture reduction technique. More specifically, it relates to a training device and training method for fracture reduction.
背景技术Background technique
目前骨伤科疾病治疗以手法复位加外固定为主。手法复位是指徒手将骨折、脱位之关节复位。因此，对于手法复位技术，需要非常依仗医师的手法，骨折治疗的效果很大程度上取决于手法复位的成功与否，手法好的医师能够帮助患者的患处愈合快、恢复早、并发症及后遗症少。At present, the treatment of orthopedic diseases is mainly based on manual reduction and external fixation. Manipulative reduction refers to the reduction of joints with fracture and dislocation with bare hands. Therefore, for manipulative reduction techniques, it is very necessary to rely on the doctor ’s maneuver. The effectiveness of fracture treatment depends largely on the success of manipulative reduction. A doctor with good maneuver can help the patient ’s affected area heal quickly, recover early, complications and sequelae less.
然而，对骨折的闭合复位手法，因为不能够直视，而是通过手摸心会来完成的，而手法的学习、训练以及成熟过程是个艰苦的而漫长的过程。例如，对于蒙医骨伤学，虽然其已走入高校课堂60余载，但是由于真正正骨名医不可能亲临教导每个学生，这种教学资源的缺乏加上因为没有很好的训练仪器来代替患者，因此手法的教学与学习一直是一个瓶颈，导致在例如手法技术方面其教学效果明显的下降，高校培养出的大学生有些方面却不如曾经的一个小学徒。However, the closed reduction technique for fractures can not be seen directly, but is done by touching the heart, and the process of learning, training and maturation of the technique is a difficult and long process. For example, for Mongolian medicine orthopaedics, although it has been in college classrooms for more than 60 years, since a real orthopedic doctor is impossible to teach each student in person, this lack of teaching resources plus because there are no good training equipment to replace Patients, therefore, teaching and learning of manipulative techniques has always been a bottleneck, leading to a significant drop in teaching effectiveness in, for example, manipulative techniques. College students trained in some aspects are not as good as a former elementary student.
因此，需要一种能够训练手法技能的教学训练装置和训练方法，以便更科学、更方便、更高效地训练学生进行骨折复位的手法技能。Therefore, there is a need for a teaching training device and training method capable of training manipulative skills, so as to train the manipulative skills of fracture reduction more scientifically, more conveniently, and more efficiently.
背景技术部分的内容仅仅是发明人所知晓的技术，并不当然代表本领域的现有技术。The content of the background art is only the technology known to the inventor, and does not necessarily represent the prior art in the art.
发明内容Summary of the invention
有鉴于此，本发明提出一种用于骨折复位的训练装置和训练方法，以克服现有技术中的缺陷。In view of this, the present invention proposes a training device and training method for fracture reduction to overcome the defects in the prior art.
根据本发明的实施例，提供一种用于骨折复位的训练装置，包括：骨折 复位平台，包括：基座以及固定在所述基座上的机械臂部分，该机械臂部分被配置为可将肢体模型安装在其上；以及控制单元，与该骨折复位平台耦接，配置成根据该机械臂部分的运动，模拟并呈现该机械臂部分的运动对该肢体模型产生的作用。According to an embodiment of the present invention, there is provided a training device for fracture reduction, including: a fracture reduction platform, including: a base and a robot arm portion fixed on the base, the robot arm portion is configured to A limb model is mounted thereon; and a control unit, coupled to the fracture reduction platform, is configured to simulate and present the effect of the movement of the robot arm portion on the limb model according to the movement of the robot arm portion.
根据本发明的一个实施例，机械臂部分包括：第一机械臂，用于固定肢体模型，该第一机械臂具有三个摆动关节和三个旋转关节，以便在空间三轴的任意方向运动；以及第二机械臂，用于固定所述肢体模型，所述第二机械臂具有一个摆动关节和一个旋转关节。According to an embodiment of the present invention, the robot arm part includes: a first robot arm for fixing a limb model, the first robot arm has three swing joints and three rotation joints, so as to move in any direction of three axes in space; And a second mechanical arm for fixing the limb model, the second mechanical arm has a swing joint and a rotary joint.
根据本发明的一个实施例，所述控制单元包括：感测模块，与所述机械臂部分耦合，配置成感测所述机械臂部分的运动。According to an embodiment of the present invention, the control unit includes: a sensing module coupled with the robot arm portion and configured to sense the motion of the robot arm portion.
根据本发明的一个实施例，所述控制单元还包括：显示模块，与所述感测模块耦接，配置成基于通过所述感测模块感测到的所述机械臂部分的运动，显示所述肢体模型的骨折部位在空间上的移动。According to an embodiment of the present invention, the control unit further includes: a display module coupled to the sensing module, configured to display the position based on the motion of the robot arm portion sensed by the sensing module Describe the movement of the fracture site of the limb model in space.
根据本发明的一个实施例，所述控制装置还包括：记录学习模块，被配置成可在记录模式和学习模式下工作，其中在所述记录模式下，所述记录学习模块可将所述机械臂部分的运动存储作为模板；在所述学习模式下，所述记录学习模块可根据所存储的模板来驱动所述机械臂部分运动。According to an embodiment of the present invention, the control device further includes: a recording learning module configured to work in a recording mode and a learning mode, wherein in the recording mode, the recording learning module may The movement of the arm part is stored as a template; in the learning mode, the record learning module can drive the movement of the robot arm part according to the stored template.
根据本发明的一个实施例，该训练装置还包括与所述机械臂部分耦合的电机，所述记录学习模块控制所述电机来驱动所述机械臂部分按照所述模板运动。According to an embodiment of the present invention, the training device further includes a motor coupled to the robot arm portion, and the recording learning module controls the motor to drive the robot arm portion to move according to the template.
根据本发明的一个实施例，该训练装置还包括骨折模型单元，所述骨折模型单元配置成可存储与所述肢体模型对应的骨折模型，所述控制单元基于所述骨折模型和所述机械臂部分的运动，模拟并呈现所述机械臂部分的运动对所述肢体模型产生的作用。According to an embodiment of the present invention, the training device further includes a fracture model unit configured to store a fracture model corresponding to the limb model, and the control unit is based on the fracture model and the robotic arm Part of the movement, to simulate and present the effect of the movement of the robot arm on the limb model.
根据本发明的一个实施例，其中，该训练装置还包括肢体模型，包括骨 骼部分和软组织部分，其中所述骨骼部分包括至少一个骨折部位。According to an embodiment of the present invention, wherein the training device further includes a limb model including a bone portion and a soft tissue portion, wherein the bone portion includes at least one fracture site.
根据本发明，还提供一种利用如上所述的用于骨折复位修复的训练装置进行的训练方法，包括：由第一用户对所述肢体模型的骨折部位进行骨折复位操作；以及模拟并呈现在所述第一用户对所述肢体模型的骨折部位进行骨折复位操作时对所述骨折部位产生的作用。According to the present invention, there is also provided a training method using the training device for fracture reduction and repair as described above, comprising: a first user performing a fracture reduction operation on a fracture site of the limb model; and simulating and presenting in The effect of the first user on the fracture site when performing the fracture reduction operation on the fracture site of the limb model.
根据本发明的一个实施例，其中，所述呈现步骤包括：感测所述第一用户对所述肢体模型的骨折部位进行所述骨折复位操作时所述机械臂部分的运动。According to an embodiment of the present invention, wherein the presenting step includes: sensing the movement of the robot arm portion when the first user performs the fracture reduction operation on the fracture site of the limb model.
根据本发明的一个实施例，其中，该训练方法还包括：将所述第一用户进行所述骨折复位操作时所述机械臂部分的运动存储作为模板。According to an embodiment of the present invention, wherein the training method further includes: storing, as a template, the motion of the robot arm part when the first user performs the fracture reduction operation.
根据本发明的一个实施例，其中，该训练方法还包括：根据所存储的模板来驱动所述机械臂部分运动。According to an embodiment of the present invention, wherein the training method further includes: driving the robot arm to move according to the stored template.
根据本发明的一个实施例，其中，所述呈现步骤包括：基于感测到的所述机械臂部分的运动，在所述显示模块上显示所述肢体模型的骨折部位的骨折断端在空间上的移动。According to an embodiment of the present invention, wherein the presenting step includes: based on the sensed movement of the robot arm part, displaying on the display module that the fractured end of the fracture site of the limb model is spatially Mobile.
根据本发明的一个实施例，其中，该训练方法还包括：基于所显示的所述肢体模型的骨折部位的骨折断端在空间上的移动，修正所述骨折复位操作。According to an embodiment of the present invention, wherein the training method further includes: based on the displayed spatial movement of the fractured end of the fracture site of the limb model, correcting the fracture reduction operation.
根据本发明的用于骨折复位的训练装置和训练方法能够实时反馈操作者所进行的骨折复位操作，从而大大提高了操作者的训练效果；通过记录并再现教师、临床医生或者名医的复位手法，学习者可以通过反复感受手法的顺序方向以及力量，从而有效提高了训练效果。The training device and training method for fracture reduction according to the present invention can feedback the fracture reduction operation performed by the operator in real time, thereby greatly improving the training effect of the operator; by recording and reproducing the reduction technique of the teacher, clinician or famous doctor, The learner can repeatedly feel the sequence direction and strength of the technique, thereby effectively improving the training effect.
附图说明BRIEF DESCRIPTION
构成本发明的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在 附图中：The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation on the present invention. In the drawings:
图1为根据本发明实施例的用于骨折复位的训练装置的示例性框图；FIG. 1 is an exemplary block diagram of a training device for fracture reduction according to an embodiment of the present invention;
图2为图1中的骨折复位平台的示例性结构图；2 is an exemplary structural diagram of the fracture reduction platform in FIG. 1;
图3为图1中的控制单元的一种示例性结构框图；FIG. 3 is an exemplary structural block diagram of the control unit in FIG. 1;
图4为图1中的控制单元的另一种示例性结构框图；4 is another exemplary structural block diagram of the control unit in FIG. 1;
图5为图1中的控制单元的又一种示例性结构框图；FIG. 5 is another exemplary structural block diagram of the control unit in FIG. 1;
图6示出了根据本发明实施例的用于骨折复位的训练装置的另一种示例性框图；6 shows another exemplary block diagram of a training device for fracture reduction according to an embodiment of the present invention;
图7示出了根据本发明实施例的用于骨折复位的训练方法的示例性处理。7 shows an exemplary process of a training method for fracture reduction according to an embodiment of the present invention.
具体实施方式detailed description
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本发明的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限制性的。In the following, only certain exemplary embodiments are simply described. As those skilled in the art will realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary in nature and not restrictive.
在本发明的描述中，需要理解的是，术语"中心"、"纵向"、"横向"、"长度"、"宽度"、"厚度"、"上"、"下"、"前"、"后"、"左"、"右"、"坚直"、"水平"、"顶"、"底"、"内"、"外"、"顺时针"、"逆时针"等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语"第一"、"第二"仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有"第一"、"第二"的特征可以明示或者隐含地包括一个或者更多个所述特征。在本发明的描述中，"多个"的含义是两个或两个以上，除非另有明确具体的限定。In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "", "Left", "right", "straight", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" etc. The positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, Therefore, it cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise specifically limited.
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语" 安装"、"相连"、"连接"应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接:可以是机械连接，也可以是电连接或可以相互通讯；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be fixed connection or detachable Connection, or integral connection: it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediary, it can be the connection between two components or the interaction of two components relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之"上"或之"下"可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征"之上"、"上方"和"上面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征"之下"、"下方"和"下面"包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and defined, the first feature "above" or "below" the second feature may include the first and second features in direct contact, or may include the first and second features Contact not directly but through another feature between them. Moreover, the first feature is “above”, “above” and “above” the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature is "below", "below" and "below" the second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is less horizontal than the second feature.
下文的公开提供了许多不同的实施方式或例子用来实现本发明的不同结构。为了简化本发明的公开，下文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本发明。此外，本发明可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。此外，本发明提供了的各种特定的工艺和材料的例子，但是本领域普通技术人员可以意识到其他工艺的应用和/或其他材料的使用。The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are merely examples, and the purpose is not to limit the invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various examples of specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。The following describes preferred embodiments of the present invention with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, but not to limit the present invention.
图1示出了根据本发明实施例的一种用于骨折复位的训练装置1。如图1所示，用于骨折复位的训练装置1包括：骨折复位平台20，该骨折复位平台20包括：基座以及固定在所述基座上的机械臂部分，所述机械臂部分被配置为可将肢体模型安装在其上；以及控制单元30，与所述骨折复位平台20耦接，配置成根据所述机械臂部分的运动，模拟并呈现所述机械臂部分的运动对所述肢体模型产生的作用。FIG. 1 shows a training device 1 for fracture reduction according to an embodiment of the present invention. As shown in FIG. 1, the training device 1 for fracture reduction includes: a fracture reduction platform 20 including a base and a robot arm portion fixed on the base, the robot arm portion is configured To allow a limb model to be mounted thereon; and a control unit 30, coupled to the fracture reduction platform 20, configured to simulate and present the movement of the robot arm portion to the limb according to the movement of the robot arm portion The role of the model.
图2示出了根据本发明实施例的骨折复位平台20的一种示例性结构。如图2所示，骨折复位平台20可以包括基座202和机械臂部分201。FIG. 2 shows an exemplary structure of the fracture reduction platform 20 according to an embodiment of the present invention. As shown in FIG. 2, the fracture reduction platform 20 may include a base 202 and a robot arm portion 201.
机械臂部分201可以包括：第一机械臂2011，用于固定肢体模型，该第一机械臂可以具有三个摆动关节2011A、2011C、2011E和三个旋转关节2011B、2011D、2011F，以便在空间三轴的任意方向运动；以及第二机械臂2012，用于固定所述肢体模型，所述第二机械臂2012具有一个摆动关节2012A和一个旋转关节2012B，以便能够与所述第一机械臂2011一起跟随肢体模型在矢状轴、冠状轴、垂直轴(即X、Y、Z轴)上的运动而运动。第一机械臂2011和第二机械臂2012的摆动关节和旋转关节的数目可以根据具体的需求增加或者减小。例如，第二机械臂2012同样也可以具有三个摆动关节和三个旋转关节。The robot arm part 201 may include: a first robot arm 2011 for fixing a limb model, the first robot arm may have three swing joints 2011A, 2011C, 2011E and three rotary joints 2011B, 2011D, 2011F, so as to provide three Movement of the axis in any direction; and a second robot arm 2012 for fixing the limb model, the second robot arm 2012 has a swing joint 2012A and a rotary joint 2012B so as to be able to be together with the first robot arm 2011 Follow the movement of the limb model on the sagittal axis, coronal axis, and vertical axis (ie, X, Y, and Z axes). The number of swing joints and rotary joints of the first robot arm 2011 and the second robot arm 2012 may be increased or decreased according to specific requirements. For example, the second robot arm 2012 may also have three swing joints and three rotation joints.
第一机械臂2011和第二机械臂2012均用于固定肢体模型(未示出)。第一机械臂2011的一端具有衔接钉2011G，第二机械臂2012的一端具有衔接钉2012C。本领域技术人员能够理解，衔接钉2011G和2012C可***到肢体模型上相对应的孔眼中，并通过常规的方式固定。从而，当用户在肢体模型上进行操作时，例如进行挤、揉、捏、压、扭等动作时，用户的动作会转化为第一机械臂2011和第二机械臂2012的动作。本领域技术人员可以构思出其他的方式以将肢体模型固定在第一机械臂和第二机械臂上，这些都在本发明的保护范围内。Both the first robot arm 2011 and the second robot arm 2012 are used to fix a limb model (not shown). One end of the first robot arm 2011 has an attachment nail 2011G, and one end of the second robot arm 2012 has an attachment nail 2012C. Those skilled in the art can understand that the connecting nails 2011G and 2012C can be inserted into corresponding eyelets on the limb model and fixed in a conventional manner. Therefore, when the user performs operations on the limb model, such as squeezing, kneading, pinching, pressing, twisting, etc., the user's actions will be converted into the actions of the first robot arm 2011 and the second robot arm 2012. Those skilled in the art can conceive of other ways to fix the limb model on the first mechanical arm and the second mechanical arm, which are within the protection scope of the present invention.
根据本发明，摆动关节是指随固定轴做摆动运动的机械关节；旋转关节是指沿着纵向轴进行旋转运动的机械关节。According to the present invention, a swing joint refers to a mechanical joint that swings along with a fixed axis; a rotary joint refers to a mechanical joint that performs rotary motion along a longitudinal axis.
根据本发明的一个实施例，第一机械臂2011可以被配置为固定肢体模型的骨折远端；第二机械臂2012可以被配置为固定肢体模型的骨折近端。在骨折复位中，通常肢体的骨折远端是指下端、远心端，肢体的骨折近端是指上端、近心端，其相对骨折远端而言较为固定；在进行骨折复位时，例如可以由骨折远端向骨折近端进行复位操作。According to an embodiment of the present invention, the first robot arm 2011 may be configured to fix the distal end of the fracture of the limb model; the second robot arm 2012 may be configured to fix the proximal end of the fracture of the limb model. In fracture reduction, usually the distal end of the limb refers to the lower end and the distal end, and the proximal end of the limb refers to the upper end and the proximal end, which is relatively fixed relative to the distal end of the fracture; when performing fracture reduction, for example, The reduction operation is performed from the distal end of the fracture to the proximal end of the fracture.
通过对肢体模型进行的矢状轴、冠状轴、垂直轴(即X、Y、Z轴)上随 意实施提挤按以及旋转等的操作，机械臂部分201的第一机械臂2011和第二机械臂2012也可以随着肢体模型的运动而在空间三轴方向上进行旋转、摆动。Through the sagittal axis, coronal axis, and vertical axis (ie, X, Y, and Z axes) of the limb model, arbitrary operations such as pushing, pushing, and rotating are performed. The first robot arm 2011 and the second robot of the robot arm part 201 The arm 2012 may rotate and swing in the three-axis direction of the space along with the movement of the limb model.
根据本发明，基座202包括设置在基座202上的用于控制与控制单元30之间进行数据传输的部件、电力供应的开关部件等。According to the present invention, the base 202 includes components provided on the base 202 for controlling data transmission with the control unit 30, a switch component for power supply, and the like.
设置在基座202上的部件例如可以包括数据接口(例如USB数据接口)2022、电源接口2023以及电源开关2024等。根据本发明，数据接口2022例如可以向控制单元30传输机械臂部分201的运动轨迹数据用于实时和记录，并且控制单元也可以通过数据接口2022向机械臂部分201传输指令，从而控制机械臂部分201的运动；电源接口2023用于与外部电源连接，以向机械臂部分201供电；电源开关2024用于接通或管关断外部电源向的骨折复位平台20供电。本发明不限于有线的数据传输或者接口，也可以通过无线通信网络，例如WIFI、3G、4G、蓝牙等方式，在控制单元30与基座202之间进行数据传输。The components provided on the base 202 may include, for example, a data interface (for example, a USB data interface) 2022, a power interface 2023, a power switch 2024, and the like. According to the present invention, the data interface 2022 can transmit the movement trajectory data of the robot arm portion 201 to the control unit 30 for real-time and recording, for example, and the control unit can also transmit instructions to the robot arm portion 201 through the data interface 2022 to control the robot arm portion The movement of 201; the power interface 2023 is used to connect with an external power supply to supply power to the robot arm portion 201; the power switch 2024 is used to turn on or off the external power supply to the fracture reduction platform 20. The present invention is not limited to wired data transmission or interfaces, but can also perform data transmission between the control unit 30 and the base 202 through wireless communication networks, such as WIFI, 3G, 4G, Bluetooth, and so on.
根据本发明，控制单元30与骨折复位平台20耦接，其被配置成根据所述机械臂部分201的运动，模拟并呈现所述机械臂部分的运动对所述肢体模型产生的作用。呈现机械臂部分的运动例如可以包括：模拟并在显示器上显示在进行该骨折复位操作时所述机械臂部分的运动对所述肢体模型产生的作用，通过控制机械臂部分的运动，再现所述机械臂部分的运动以再现对所述肢体模型产生的作用。According to the present invention, the control unit 30 is coupled to the fracture reduction platform 20, which is configured to simulate and present the effect of the motion of the robot arm portion on the limb model according to the motion of the robot arm portion 201. Presenting the motion of the robot arm part may include, for example, simulating and displaying on the display the effect of the motion of the robot arm part on the limb model during the fracture reduction operation, and by controlling the motion of the robot arm part, reproducing the The movement of the mechanical arm part to reproduce the effect on the limb model.
图3为图1中的控制单元的一种示例性结构框图。如图3所示，控制单元30可以包括：感测模块301，用于感测所述机械臂部分201的运动，例如在用户进行骨折复位操作时机械臂部分的运动。根据本发明，感测模块301例如可以包括传感器或感应器，用于感测机械臂部分201的第一机械臂2011和第二机械臂2012的各个旋转关节和摆动关节的运动。感应器感应的第一机械臂2011和第二机械臂2012的各个旋转关节和摆动关节的运动轨迹的数据可以通过例如设置在骨折复位平台20的基座202上的数据接口2022传输至 控制单元30以便控制单元30对这些数据进行处理，该处理包括但不限于：数据存储、数据回放、数据反馈等。所述感应器包括但不限于角度传感器、位移传感器、速度传感器、加速度传感器等。FIG. 3 is an exemplary structural block diagram of the control unit in FIG. 1. As shown in FIG. 3, the control unit 30 may include a sensing module 301 for sensing the movement of the robot arm portion 201, for example, the movement of the robot arm portion when the user performs a fracture reduction operation. According to the present invention, the sensing module 301 may include, for example, a sensor or a sensor for sensing the movements of the respective rotary joints and swing joints of the first and second robot arms 2011 and 2012 of the robot arm portion 201. The data of the movement trajectories of the respective rotation joints and swing joints of the first robot arm 2011 and the second robot arm 2012 sensed by the sensor may be transmitted to the control unit 30 through, for example, a data interface 2022 provided on the base 202 of the fracture reduction platform 20 In order for the control unit 30 to process these data, the processing includes but is not limited to: data storage, data playback, data feedback, and the like. The sensors include but are not limited to angle sensors, displacement sensors, speed sensors, acceleration sensors, and the like.
图4为图1中的控制单元的另一种示例性结构框图。如图4所示，除了图3中的感测模块301之外，控制单元30还可以包括：显示模块302，与所述感测模块301耦接，用于基于通过所述感测模块301感测到的所述机械臂部分201的运动，显示肢体模型的骨折部位的骨折断端在空间上的移动。根据本发明，经感测模块301感测到的机械臂部分201的运动的轨迹，可以通过由处理器处理，而将进行骨折复位操作的用户的手法状态，通过软件将骨折断端在空间上的精细的移动情况实时展现在显示模块302上，从而及时反馈出用户进行骨折复位操作的准确性。根据本发明，显示模块302可以是本领域常用的***示装置，例如但不限于个人计算机的显示器、平板电脑的显示器等等。FIG. 4 is another exemplary structural block diagram of the control unit in FIG. 1. As shown in FIG. 4, in addition to the sensing module 301 in FIG. 3, the control unit 30 may further include: a display module 302 coupled to the sensing module 301 for sensing based on the sensing module 301 The measured movement of the robot arm portion 201 shows the spatial movement of the fractured end of the fracture site of the limb model. According to the present invention, the trajectory of the movement of the robot arm portion 201 sensed by the sensing module 301 can be processed by the processor, and the user's manual state of the fracture reduction operation can be processed. The detailed movement of the mobile phone is displayed on the display module 302 in real time, so that the accuracy of the fracture reduction operation by the user is timely fed back. According to the present invention, the display module 302 may be any display device commonly used in the art, such as but not limited to a personal computer display, a tablet computer display, and so on.
根据本发明的一个优选实施例，训练装置1还可以包括骨折模型单元(图中未示出)。所述骨折模型单元配置成可存储与所述肢体模型对应的骨折模型。骨折模型例如可以包括但不限于该肢体模型的类型(例如手臂、腿骨等)、长度、骨折位置、骨折类型(例如断裂、粉碎)、断裂角度以及其他常见的参数。骨折模型可以预先设置好，在使用时由用户进行选择；和/或可以提供接口，由用户进行骨折模型的输入和自定义，以增加***使用的便利性。According to a preferred embodiment of the present invention, the training device 1 may further include a fracture model unit (not shown in the figure). The fracture model unit is configured to store a fracture model corresponding to the limb model. The fracture model may include, for example, but not limited to, the type of the limb model (eg, arms, leg bones, etc.), length, fracture position, fracture type (eg, fracture, crush), fracture angle, and other common parameters. The fracture model can be set in advance and selected by the user during use; and / or an interface can be provided for the user to input and customize the fracture model to increase the convenience of the system.
所述控制单元(例如智能处理器)基于所述骨折模型和所述机械臂部分的运动，模拟并呈现所述机械臂部分的运动对所述肢体模型产生的作用。例如，控制单元根据骨折模型，或者当前机械臂部分上所固定的肢体模型的参数以及骨折相关参数，同时通过所接收到的机械臂部分的运动参数，模拟并显示当前的用户操作(对应于机械臂部分的运动)对于肢体模型的影响。例如当用户对肢体模型进行挤压时，控制单元通过感知机械臂部分的运动，将骨折模型中断骨的部分同样挤压在一起；当用户对肢体模型进行扭转时，控制单元通过感知机械臂部分的运动，同样对骨折模型中断骨的部分进行相对 扭转，并且用户可以通过控制单元的显示，获知当前操作手法带来的效果，例如断骨部分是否挤压到位，断骨部分是否已经通过旋转而对正等等。The control unit (for example, an intelligent processor) simulates and presents the effect of the movement of the robot arm part on the limb model based on the fracture model and the movement of the robot arm part. For example, the control unit simulates and displays the current user operation (corresponding to the machine) according to the fracture model, or the parameters of the limb model fixed on the current robot arm part and the fracture-related parameters, and through the received motion parameters of the robot arm part The effect of arm movement) on the limb model. For example, when the user squeezes the limb model, the control unit squeezes the broken bone parts of the fracture model together by sensing the movement of the mechanical arm part; when the user twists the limb model, the control unit senses the mechanical arm part The movement of the fracture model also relatively twists the broken bone part of the fracture model, and the user can know the effect of the current operation method through the display of the control unit, such as whether the broken bone part is squeezed in place and whether the broken bone part has been rotated and rotated Just wait.
根据本发明，进行骨折复位操作的用户可以基于在显示模块302上所显示的骨折断端在空间上的移动来修正骨折复位操作。进行骨折复位操作的用户可以是具有骨折复位经验的例如临床医生或者专家，也可以是学习骨折复位操作的学生、实习医生等。According to the present invention, the user who performs the fracture reduction operation can correct the fracture reduction operation based on the spatial movement of the fractured end displayed on the display module 302. The user who performs the fracture reduction operation may be a clinician or an expert with fracture reduction experience, for example, or a student or trainee who learns fracture reduction operation.
相比于现有技术中在进行闭合手法复位时难以肉眼观察到骨折断端的情况，根据本发明的训练装置能够及时了解骨折复位操作的处理状况，以便调整或修正骨折复位操作，从而降低了初学者在掌握手法的方向和力度上的难度，能够大大提高操作者的训练效果。Compared with the situation in the prior art where it is difficult to visually observe the fractured end of the fracture when performing closed reduction, the training device according to the present invention can timely understand the treatment status of the fracture reduction operation in order to adjust or modify the fracture reduction operation, thereby reducing the The difficulty of beginners in grasping the direction and strength of the technique can greatly improve the training effect of the operator.
图5为图1中的控制单元的另一种示例性结构框图。如图4所示，除了图3中的感测模块301之外，控制单元30还可以包括：记录学习模块303，被配置成可分别在记录模式和学习模式下工作，其中在所述记录模式下，所述记录学习模块303可将所述机械臂部分201的运动存储作为模板；在所述学习模式下，所述记录学习模块303可根据所存储的模板来驱动所述机械臂部分201运动。FIG. 5 is another exemplary structural block diagram of the control unit in FIG. 1. As shown in FIG. 4, in addition to the sensing module 301 in FIG. 3, the control unit 30 may further include: a recording learning module 303 configured to work in a recording mode and a learning mode, respectively, wherein the recording mode Next, the record learning module 303 can store the motion of the robot arm portion 201 as a template; in the learning mode, the record learning module 303 can drive the motion of the robot arm portion 201 according to the stored template .
根据本发明，记录学习模块303可以包括存储介质，其可以在记录模式下记录并存储例如具有熟练正骨手法的师傅、临床医生、专家在进行骨折复位操作时机械臂部分201的运动。存储介质可以采用本领域公知的任意存储介质，在此不再赘述。在学习模式下，记录学习模块303可以根据存储在存储介质中的模板来驱动机械臂部分201运动，以再现具有熟练正骨手法的师傅、临床医生、专家的复位操作，从而例如学生、徒弟、实习医生等正在学习正骨手法的初学者可以通过感知固定在机械臂部分201上的肢体模型的运动，来学习骨折复位操作。According to the present invention, the recording learning module 303 may include a storage medium that can record and store, for example, the movement of the robot arm portion 201 when a master, clinician, or expert with a prosthetic orthopedic technique performs a fracture reduction operation in the recording mode. The storage medium may use any storage medium known in the art, and will not be repeated here. In the learning mode, the recording learning module 303 can drive the movement of the robot arm part 201 according to the template stored in the storage medium to reproduce the reset operation of masters, clinicians, and experts with skilled orthopedic techniques, such as students, apprentices, intern Beginners such as doctors who are learning orthopedic techniques can learn the fracture reduction operation by sensing the movement of the limb model fixed on the robot arm part 201.
根据本发明的一个实施例，训练装置1还可以包括电机(图中未示出)，其与机械臂部分201耦合且还与控制单元30耦接，被配置为由控制单元30的记录学习模块303控制来驱动所述机械臂部分201按照所述模板运动。电 机可以与机械臂部分的自由度相对应，例如对于图2的机械臂部分，可以设置八个电机，分别对应于第一机械臂2011和第二机械臂2012的摆动关节和旋转关节。根据本发明，控制单元30的记录学习模块303被配置为基于其所存储的作为模板的、机械臂部分201的运动来生成控制指令，以控制电机驱动机械臂部分按照模板来运动。从而用户将手放在肢体模型上，可以感受到模板所记录的运动，从而学习如何进行骨折复位操作。According to an embodiment of the present invention, the training device 1 may further include a motor (not shown in the figure), which is coupled to the robot arm portion 201 and is also coupled to the control unit 30, and is configured to be a recording learning module of the control unit 30 303 Control to drive the robot arm part 201 to move according to the template. The motor may correspond to the degrees of freedom of the robot arm part. For example, for the robot arm part of FIG. 2, eight motors may be provided, corresponding to the swing joint and the rotary joint of the first robot arm 2011 and the second robot arm 2012, respectively. According to the present invention, the record learning module 303 of the control unit 30 is configured to generate a control instruction based on its stored movement of the robot arm portion 201 as a template to control the motor to drive the robot arm portion to move according to the template. Therefore, the user can place his hand on the limb model and feel the movement recorded by the template, so as to learn how to perform the fracture reduction operation.
由于能够记录并再现教师、临床医生等专业人士的骨折复位操作，使得作为初学者的实习医生或者学生在进行训练时能够反复学习、感受专业人士进行骨折复位操作的顺序方向以及力量，从而有效提高了训练效果。此外，通过对某个或者多个教师、临床医生等专业人士的骨折复位操作的手法数据化并且对数据化的操作信息进行记录和数据分析，使得正骨手法更加客观化、规范化、数字化，也对正骨手法的进一步发展有很大的促进作用。The ability to record and reproduce the fracture reduction operation of teachers, clinicians and other professionals, so that the intern or student as a beginner can repeatedly learn and feel the sequence direction and strength of the fracture reduction operation by professionals during training, thereby effectively improving Training effect. In addition, by digitizing the fracture reduction technique of one or more teachers, clinicians and other professionals, and recording and analyzing the data operation information, the orthopedic technique is more objective, standardized, and digital. The further development of orthopedic technique has a great promotion effect.
图6示出了根据本发明另一个实施例的用于骨折复位的训练装置的示例性结构框图。如图6所示，除了与图1类似地包括骨折复位平台20和控制单元30之外，根据本发明的实施例的训练装置2还可以包括：肢体模型10，该肢体模型10例如可以包括骨骼部分和软组织部分。FIG. 6 shows an exemplary structural block diagram of a training device for fracture reduction according to another embodiment of the present invention. As shown in FIG. 6, in addition to including the fracture reduction platform 20 and the control unit 30 similar to FIG. 1, the training device 2 according to the embodiment of the present invention may further include: a limb model 10, which may include bones, for example Parts and soft tissue parts.
根据本发明的一个实施例，例如，可以通过例如模拟符合手法复位操作的上肢或下肢的一部分，制造成类似人的肢体的模型。可以选择类似人体骨骼的较为坚硬的材料制作骨骼部分，使得骨骼部分的外形、大小与人体的骨骼类似，然后使骨骼部分的某一个或几个部位造成骨折，例如肱骨干中断骨折、踝骨骨折等。然后，可以采用类似于人体肌肉硬度的橡胶材质包裹于骨骼上，例如可以采用触感类似于皮肤、硬度类似于肌肉的手感并且纵向牵拉时候阻力同于人体肌肉弹力的橡胶材质来制作软组织部分。根据本发明，软组织部分的外观形状和颜色可以例如根据黄种人的肢体外观来设置，当然也可以是根据其他人种的肢体外观来设置。然后，可以利用例如链接钉，将软组织部分固定于骨骼部分上，以使得肢体模型从外观上、尺寸上、手感上、力度上完全接近于人体肢体。According to an embodiment of the present invention, for example, a model of a human-like limb can be manufactured by, for example, simulating a part of the upper limb or lower limb that conforms to a manual reset operation. You can choose harder materials like human bones to make bone parts, so that the shape and size of bone parts are similar to human bones, and then one or several parts of bone parts cause fractures, such as fractures of humeral shaft fractures and ankle fractures Wait. Then, a rubber material similar to the hardness of human muscles can be wrapped on the bones, for example, a soft tissue part can be made of a rubber material that is similar to the skin to the touch, hardness is similar to the feel of the muscles, and the resistance is the same as the elasticity of the human muscles when pulled vertically. According to the present invention, the appearance shape and color of the soft tissue portion may be set according to the appearance of limbs of a yellow race, for example, or according to the appearance of limbs of other races. Then, for example, a link nail can be used to fix the soft tissue part to the bone part, so that the limb model is completely close to the human limb in appearance, size, feel, and strength.
用户可以对肢体模型进行在矢状轴、冠状轴、垂直轴(即X、Y、Z轴)上随意实施提、挤、按以及旋转等各种复位操作的训练。Users can train the limb model to perform various reset operations such as lifting, squeezing, pressing, and rotating on the sagittal axis, coronal axis, and vertical axis (ie, X, Y, and Z axes).
虽然以上例示了肢体模型的结构和配置，但是本发明不限于此。本领域技术人员可以理解，根据本发明的用于骨折复位的肢体模型10也可以根据实际需要而采用本领域公知的其他类型的肢体模型，只要其包括骨折部位且能够由初学者进行骨折复位训练、学习即可。Although the structure and configuration of the limb model have been exemplified above, the present invention is not limited to this. Those skilled in the art can understand that the limb model 10 for fracture reduction according to the present invention can also use other types of limb models known in the art according to actual needs, as long as it includes the fracture site and can be trained by a beginner for fracture reduction And study.
如图7所示，根据本发明的另一个实施例，还提供一种用于骨折复位的训练方法，该方法包括：As shown in FIG. 7, according to another embodiment of the present invention, a training method for fracture reduction is also provided. The method includes:
在步骤S11，由第一用户对肢体模型的骨折部位进行骨折复位操作；In step S11, the first user performs a fracture reduction operation on the fracture site of the limb model;
在步骤S12，模拟并呈现在第一用户对肢体模型的骨折部位进行骨折复位操作时对骨折部位产生的作用。In step S12, the effect on the fracture site when the first user performs the fracture reduction operation on the fracture site of the limb model is simulated and presented.
根据本发明的一个实施例，呈现步骤包括：感测第一用户对肢体模型的骨折部位进行骨折复位操作时机械臂部分的运动。According to an embodiment of the present invention, the presenting step includes: sensing the movement of the robot arm part when the first user performs a fracture reduction operation on the fracture site of the limb model.
根据本发明的一个实施例，用于骨折复位的训练方法还包括：将所述第一用户进行所述骨折复位操作时所述机械臂部分的运动存储作为模板。According to an embodiment of the present invention, the training method for fracture reduction further includes: storing, as a template, the motion of the mechanical arm portion when the first user performs the fracture reduction operation.
根据本发明的实施例，用于骨折复位的训练方法还包括：根据所存储的模板来驱动所述机械臂部分运动。According to an embodiment of the present invention, the training method for fracture reduction further includes: driving the robot arm to move according to the stored template.
根据本发明的一个实施例，模拟并呈现步骤包括：基于感测到的所述机械臂部分的运动，在所述显示模块上显示所述肢体模型的骨折部位的骨折断端在空间上的移动。According to an embodiment of the present invention, the step of simulating and presenting includes displaying the movement of the fractured end of the fracture site of the limb model on the display module based on the sensed movement of the robot arm part .
根据本发明的一个实施例，所述训练方法还包括：基于所显示的所述肢体模型的骨折部位的骨折断端在空间上的移动，修正所述骨折复位操作。According to an embodiment of the present invention, the training method further includes correcting the fracture reduction operation based on the spatial movement of the fractured end of the fracture site of the limb model displayed.
根据本发明的用于骨折复位的训练装置和训练方法，至少具有以下有益技术效果至少其中之一：能够克服学生或者实习医生无法在患者(人体)上进行反复手法练习的弊端；能够实时反馈操作者所进行的骨折复位操作，使得操作者能够根据反馈实时修正或者调整其骨折复位操作，例如骨折复位手法的方向和力度等，从而大大提高了操作者的训练效果；通过记录并再现教师、临床医生或者名医的复位手法，学习者可以通过反复感受手法的顺序方 向以及力量，从而有效提高了训练效果。The training device and training method for fracture reduction according to the present invention have at least one of the following beneficial technical effects: able to overcome the drawback that students or interns cannot perform repeated maneuver exercises on patients (human bodies); and can feedback operations in real time The fracture reduction operation performed by the operator allows the operator to correct or adjust its fracture reduction operation in real time according to the feedback, such as the direction and strength of the fracture reduction technique, which greatly improves the training effect of the operator; by recording and reproducing teachers, clinical With the reset technique of doctors or famous doctors, learners can repeatedly feel the sequence direction and strength of the technique, thereby effectively improving the training effect.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the present invention. Within the scope of protection.
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。Finally, it should be noted that the foregoing is only preferred embodiments of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it is still The technical solutions described in the foregoing embodiments can be modified, or some of the technical features can be equivalently replaced. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (14)

  1. 一种用于骨折复位的训练装置，其特征在于，包括：A training device for fracture reduction, characterized in that it includes:
    骨折复位平台，包括：基座以及固定在所述基座上的机械臂部分，所述机械臂部分被配置为可将肢体模型安装在其上；以及The fracture reduction platform includes: a base and a mechanical arm part fixed on the base, the mechanical arm part is configured to mount the limb model thereon; and
    控制单元，与所述骨折复位平台耦接，配置成根据所述机械臂部分的运动，模拟并呈现所述机械臂部分的运动对所述肢体模型产生的作用。The control unit, coupled to the fracture reduction platform, is configured to simulate and present the effect of the motion of the robot arm part on the limb model according to the motion of the robot arm part.
  2. 根据权利要求1所述的训练装置，其特征在于，所述机械臂部分包括：The training device according to claim 1, wherein the mechanical arm portion includes:
    第一机械臂，用于固定所述肢体模型，所述第一机械臂具有三个摆动关节和三个旋转关节，以便在空间三轴的任意方向运动；以及A first mechanical arm for fixing the limb model, the first mechanical arm has three swing joints and three rotary joints to move in any direction of three axes in space; and
    第二机械臂，用于固定所述肢体模型，所述第二机械臂具有一个摆动关节和一个旋转关节。A second mechanical arm is used to fix the limb model, and the second mechanical arm has a swing joint and a rotation joint.
  3. 根据权利要求1所述的训练装置，其特征在于，所述控制单元包括：The training device according to claim 1, wherein the control unit comprises:
    感测模块，与所述机械臂部分耦合，配置成感测所述机械臂部分的运动。A sensing module, coupled to the robot arm portion, is configured to sense the motion of the robot arm portion.
  4. 根据权利要求3所述的训练装置，其特征在于，所述控制单元还包括：显示模块，与所述感测模块耦接，配置成基于通过所述感测模块感测到的所述机械臂部分的运动，显示所述肢体模型的骨折部位在空间上的移动。The training device according to claim 3, wherein the control unit further comprises: a display module coupled to the sensing module, configured to be based on the robotic arm sensed by the sensing module Part of the movement shows the spatial movement of the fracture site of the limb model.
  5. 根据权利要求3所述的训练装置，其特征在于，所述控制装置还包括：记录学习模块，被配置成可在记录模式和学习模式下工作，其中在所述记录模式下，所述记录学习模块可将所述机械臂部分的运动存储作为模板；在所述学习模式下，所述记录学习模块可根据所存储的模板来驱动所述机械臂部分运动。The training device according to claim 3, wherein the control device further comprises: a recording learning module configured to work in a recording mode and a learning mode, wherein in the recording mode, the recording learning The module may store the motion of the robot arm part as a template; in the learning mode, the record learning module may drive the motion of the robot arm part according to the stored template.
  6. 根据权利要求5所述的训练装置，其特征在于，还包括与所述机械臂部分耦合的电机，所述记录学习模块控制所述电机来驱动所述机械臂部分按 照所述模板运动。The training device according to claim 5, further comprising a motor coupled to the robot arm portion, and the recording learning module controls the motor to drive the robot arm portion to move according to the template.
  7. 根据权利要求1-6中任一项所述的训练装置，其特征在于，包括骨折模型单元，所述骨折模型单元配置成可存储与所述肢体模型对应的骨折模型，所述控制单元基于所述骨折模型和所述机械臂部分的运动，模拟并呈现所述机械臂部分的运动对所述肢体模型产生的作用。The training device according to any one of claims 1 to 6, characterized by comprising a fracture model unit configured to store a fracture model corresponding to the limb model, and the control unit is based on The fracture model and the motion of the mechanical arm part simulate and present the effect of the motion of the mechanical arm part on the limb model.
  8. 根据权利要求1-7中任一项所述的训练装置，其特征在于，还包括肢体模型，包括骨骼部分和软组织部分，其中所述骨骼部分包括至少一个骨折部位。The training device according to any one of claims 1-7, further comprising a limb model including a bone portion and a soft tissue portion, wherein the bone portion includes at least one fracture site.
  9. 一种利用权利要求1-8中任一项所述的用于骨折复位修复的训练装置进行的训练方法，其特征在于，包括：A training method using the training device for fracture reduction and restoration according to any one of claims 1-8, characterized in that it includes:
    由第一用户对所述肢体模型的骨折部位进行骨折复位操作；以及The first user performs a fracture reduction operation on the fracture site of the limb model; and
    模拟并呈现在所述第一用户对所述肢体模型的骨折部位进行骨折复位操作时对所述骨折部位产生的作用。Simulate and present the effect on the fracture site when the first user performs a fracture reduction operation on the fracture site of the limb model.
  10. 如权利要求9所述的用于骨折复位修复的训练方法，其特征在于，所述模拟并呈现步骤包括：感测所述第一用户对所述肢体模型的骨折部位进行所述骨折复位操作时所述机械臂部分的运动。The training method for fracture reduction and repair according to claim 9, wherein the simulating and presenting step comprises: sensing when the first user performs the fracture reduction operation on the fracture site of the limb model The movement of the mechanical arm part.
  11. 如权利要求9或10所述的用于骨折复位修复的训练方法，其特征在于，还包括：将所述第一用户进行所述骨折复位操作时所述机械臂部分的运动存储作为模板。The training method for fracture reduction and repair according to claim 9 or 10, further comprising: storing, as a template, the movement of the robot arm portion when the first user performs the fracture reduction operation.
  12. 如权利要求11所述的用于骨折复位修复的训练方法，其特征在于，还包括：根据所存储的模板来驱动所述机械臂部分运动。The training method for fracture reduction and repair according to claim 11, further comprising: driving the mechanical arm part to move according to the stored template.
  13. 如权利要求9-12中任一项所述的用于骨折复位修复的训练方法，其 特征在于，所述模拟并呈现步骤包括：基于感测到的所述机械臂部分的运动，在所述显示模块上显示所述肢体模型的骨折部位的骨折断端在空间上的移动。The training method for fracture reduction and repair according to any one of claims 9-12, wherein the step of simulating and presenting includes: based on the sensed movement of the robot arm part, in the The display module displays the spatial movement of the fractured end of the fracture site of the limb model.
  14. 如权利要求13所述的用于骨折复位修复的训练方法，其特征在于，还包括：基于所显示的所述肢体模型的骨折部位的骨折断端在空间上的移动，修正所述骨折复位操作。The training method for fracture reduction and repair according to claim 13, further comprising: modifying the fracture reduction operation based on the spatial movement of the fractured end of the fracture site of the limb model displayed .
PCT/CN2019/113869 2018-11-01 2019-10-29 Training apparatus and method for fracture reduction WO2020088430A1 (en)

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